CN115880804A

CN115880804A - Automatic inspection method, device, equipment, system and medium for transformer substation

Info

Publication number: CN115880804A
Application number: CN202211518312.2A
Authority: CN
Inventors: 周德勤; 于海群; 杨奎刚; 焦亮; 崔笑春; 孙志敏; 杨明灿
Original assignee: Beijing Yupont Electric Power Technology Co ltd
Current assignee: Beijing Yupont Electric Power Technology Co ltd
Priority date: 2022-11-29
Filing date: 2022-11-29
Publication date: 2023-03-31

Abstract

The invention discloses a method, a device, equipment, a system and a medium for automatically inspecting a transformer substation. The method comprises the following steps: detecting the starting time of each inspection task according to a preset task detection frequency, and judging whether the starting time of each inspection task is reached currently; if the starting time of the target inspection task is reached, acquiring target inspection task point information matched with the target inspection task from the database; generating a first control instruction and a second control instruction according to the target inspection task point information, sending the first control instruction to the inspection robot, and sending the second control instruction to a shooting holder carried on the inspection robot; and receiving the power equipment image sent by the shooting holder, analyzing the power equipment image, acquiring key information in the power equipment image, and generating a polling result according to the key information and displaying the polling result on the interactive terminal. By adopting the technical scheme, automatic timing inspection in the transformer substation can be realized, and an inspection result can be generated and fed back to a user.

Description

Automatic inspection method, device, equipment, system and medium for transformer substation

Technical Field

The invention relates to the technical field of robots, in particular to a method, a device, equipment, a system and a medium for automatic inspection of a transformer substation.

Background

In order to ensure the safe operation of the power system, the display parameters of the power devices in the substation need to be recorded at a preset time to obtain the operation state of each power device.

Currently, the method for acquiring the parameters of the electrical equipment may be generally through manual recording, or automatically uploading data by the electrical equipment.

However, because there are many power devices in the substation and the display parameter acquisition time of each power device is different, if a manual recording mode is adopted, a lot of time is consumed, and the efficiency is low.

Disclosure of Invention

The invention provides a method, a device, equipment, a system and a medium for automatically inspecting a transformer substation, which can realize the timed automatic inspection of the transformer substation and can generate an inspection result and feed the inspection result back to a user.

According to one aspect of the invention, an automatic transformer substation inspection method is provided, which comprises the following steps:

detecting the starting time of each inspection task according to a preset task detection frequency, and judging whether the starting time of each inspection task is reached currently;

if the starting time of the target inspection task is reached, acquiring target inspection task point information matched with the target inspection task from the database;

generating a first control instruction and a second control instruction according to the target inspection task point information, sending the first control instruction to the inspection robot to control the inspection robot to move to each target inspection task point, and sending the second control instruction to a shooting cloud platform carried on the inspection robot to control the shooting cloud platform to move to a shooting position matched with each target inspection task point;

the method comprises the steps of receiving an electric power equipment image sent by a shooting cloud deck, analyzing the electric power equipment image, obtaining key information in the electric power equipment image, generating a routing inspection result according to the key information, and displaying the routing inspection result on an interactive terminal.

According to another aspect of the present invention, there is provided a substation automatic inspection device, including:

the starting time detection module is used for detecting the starting time of each inspection task according to the preset task detection frequency and judging whether the starting time of each inspection task is reached currently;

the target inspection task point information acquisition module is used for acquiring target inspection task point information matched with the target inspection task from the database if the starting time of the target inspection task is reached;

the control instruction sending module is used for generating a first control instruction and a second control instruction according to the target inspection task point information, sending the first control instruction to the inspection robot so as to control the inspection robot to move to each target inspection task point, and sending the second control instruction to a shooting cloud deck carried on the inspection robot so as to control the shooting cloud deck to move to a shooting position matched with each target inspection task point;

and the inspection result generation module is used for receiving the power equipment image sent by the shooting holder, analyzing the power equipment image, acquiring key information in the power equipment image, and generating an inspection result according to the key information and displaying the inspection result on the interactive terminal.

According to another aspect of the present invention, there is provided an electronic apparatus including:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the substation automated inspection method according to any one of the embodiments of the present invention.

According to another aspect of the present invention, there is provided a substation automatic inspection system, including: major control system, interactive terminal, database, patrol and examine robot and shoot the cloud platform, wherein:

the master control system for performing the method of any one of claims 1-5;

the interactive terminal is used for displaying the inspection result, the inspection map and the remote control options; and

acquiring user operation information of a user for operating a remote control option, and transmitting the user operation information to a master control system in real time;

the database is used for storing at least one target inspection task which is established in advance and at least one piece of target inspection task point information matched with each target inspection task;

the inspection robot is used for moving to each target inspection task point matched with the target inspection task according to a first control instruction sent by the master control system;

and the shooting cloud deck is used for moving to a shooting position matched with each target inspection task point according to a second control instruction sent by the master control system, shooting the electrical equipment image of each target inspection task point, and sending the electrical equipment image to the master control system.

According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to implement the substation automatic inspection method according to any one of the embodiments of the present invention when the computer instructions are executed.

According to the technical scheme of the embodiment of the invention, the starting time of each inspection task is detected according to the preset task detection frequency, when the starting time of the target inspection task is reached, a control instruction is generated and sent to the inspection robot and the shooting cloud deck, and the electric power equipment image sent by the shooting cloud deck is received and analyzed, so that the inspection result of the transformer substation is obtained, automatic inspection of a plurality of electric power equipment with different inspection times in the transformer substation can be realized, and the inspection result is automatically generated and displayed on the interactive terminal, so that technicians can timely obtain inspection information, and the inspection efficiency can be effectively improved.

It should be understood that the statements in this section are not intended to identify key or critical features of the embodiments of the present invention, nor are they intended to limit the scope of the invention. Other features of the present invention will become apparent from the following description.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a flowchart of an automatic substation inspection method according to an embodiment of the present invention;

fig. 2 is a flowchart of another automatic substation routing inspection method according to the second embodiment of the present invention;

fig. 3 is a schematic structural diagram of an automatic substation inspection device according to a third embodiment of the present invention;

fig. 4 is a schematic structural diagram of an automatic substation inspection system to which the fourth embodiment of the present invention is applied;

fig. 5 is a schematic structural diagram of an electronic device for implementing the automatic substation inspection method according to the embodiment of the present invention.

Detailed Description

In order to make those skilled in the art better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in other sequences than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Example one

Fig. 1 is a flowchart of an automatic substation inspection method according to an embodiment of the present invention, where the method is applicable to a case where a control instruction is generated and sent to an inspection robot and a shooting pan-tilt to obtain an inspection result of a substation when a start time of a target inspection task is reached, the method may be executed by an automatic substation inspection device, the automatic substation inspection device may be implemented in a hardware and/or software manner, and the automatic substation inspection device may be configured in a computer having a data processing function. As shown in fig. 1, the method includes:

s110, detecting the starting time of each inspection task according to a preset task detection frequency, and judging whether the starting time of each inspection task is reached currently.

In a substation, there may be multiple electrical devices, and each electrical device may have different detection times, and detection time intervals. Therefore, the power equipment in the transformer substation can be patrolled and examined by setting a plurality of modes of patrolling and examining the task, each patrolling and examining task can include at least one target patrolling and examining task point, each target patrolling and examining task point can include at least one power equipment, and each patrolling and examining task can have preset starting time.

The task detection frequency can be understood as the frequency of detecting whether each patrol task reaches the starting time. In a specific example, the task detection frequency may be 1 second, that is, every 1 second, whether each polling task reaches the preset starting time is detected. Under a general condition, the starting time of each inspection task is different, but if a transformer substation with a large scale needs to simultaneously acquire data of a plurality of power devices, the condition that the plurality of inspection tasks have the same starting time can exist, and at the moment, the requirement for simultaneously executing the plurality of inspection tasks can be met by increasing the manner of the inspection robot.

Optionally, for the inspection task without the preset starting time, the starting of the inspection task can be triggered by a technician.

And S120, if the starting time of the target inspection task is reached, acquiring target inspection task point information matched with the target inspection task from the database.

The target inspection task point information can include position information of the target inspection task point and shooting information matched with each power device at the target inspection task point.

Further, the position information of the target inspection task point may include a specific coordinate value of the target inspection in a coordinate system used by the target inspection and environment information around the target inspection task point.

Further, the shooting information matched with each power device may include a position to be shot by each power device and a focal length of a camera to be calibrated for shooting each power device.

And S130, generating a first control instruction and a second control instruction according to the target patrol task point information, sending the first control instruction to the patrol robot to control the patrol robot to move to each target patrol task point, and sending the second control instruction to a shooting holder carried on the patrol robot to control the shooting holder to move to a shooting position matched with each target patrol task point.

Wherein, patrol and examine the mobile robot that the robot can be for possessing the ability of receiving control command, shoot the cloud platform and can be for possessing the mobile camera of receiving command ability.

Optionally, a first control instruction may be generated according to the position information of the target inspection task point in the target inspection task point information; and generating a second control instruction according to shooting information matched with each power device in the target inspection task point information.

Specifically, the first control instruction may be used to control the inspection robot to move to each target inspection task point, and the first control instruction may include a motion trajectory and a motion speed of the inspection robot; the second control instruction can be used for controlling the shooting cloud platform carried on the inspection robot to move to the shooting position required by each electric power device after the inspection robot reaches each target inspection task point, and adjusting the focal length of the shooting cloud platform to the shooting focal length matched with each electric power device.

The purpose of this is to: considering that after the target inspection task point is reached, the distance between the inspection robot and each power device has a certain difference, and the positions of the instruments of different power devices are different, different shooting positions need to be set for each power device at each target inspection task point, so as to ensure that clear images of the instruments of the power devices can be shot.

S140, receiving the power equipment image sent by the shooting holder, analyzing the power equipment image, acquiring key information in the power equipment image, and generating a routing inspection result according to the key information and displaying the routing inspection result on the interactive terminal.

Wherein, interactive terminal can be used for the show to patrol and examine the result, and interactive terminal can be the display screen under the general condition.

Specifically, after the shooting cloud deck executes the second control instruction, the shooting cloud deck can be received to shoot and acquire each power equipment image, the data information in the power equipment image is extracted, the required target information is screened out, the key information required by the power inspection can be acquired, and the inspection result is generated through the key information and displayed in the interactive terminal.

Optionally, the power device image may be a high-definition image or an infrared thermal image, and data information in the power device image may be extracted in an image processing manner.

Preferably, the inspection result may include data information of each key information, and prompt information that is generated to match the key information when the data of the key information is out of the matching standard range.

Example two

Fig. 2 is a flowchart of another substation automatic inspection method according to a second embodiment of the present invention, and this embodiment specifically illustrates an inspection result generation step in the substation automatic inspection method based on the foregoing embodiment. As shown in fig. 2, the method includes:

s210, detecting the starting time of each inspection task according to a preset task detection frequency, and judging whether the starting time of each inspection task is reached currently.

And S220, if the starting time of the target inspection task is reached, acquiring target inspection task point information matched with the target inspection task from the database.

And S230, generating a first control instruction and a second control instruction according to the target inspection task point information, sending the first control instruction to the inspection robot to control the inspection robot to move to each target inspection task point, and sending the second control instruction to a shooting cloud platform carried on the inspection robot to control the shooting cloud platform to move to a shooting position matched with each target inspection task point.

Optionally, after the target inspection task point information matched with the target inspection task is obtained, the target inspection task point information can be sent to an interaction page, so that a technician can further select an appointed task point from the target inspection task points, and after the technician selects the appointed task point, a first control instruction is generated according to the task point information matched with the appointed task point.

S240, receiving the power equipment image sent by the shooting holder, analyzing the power equipment image, and acquiring key information in the power equipment image, wherein the key information in the power equipment image comprises variable information and fixed information.

The variable information may be understood as data information that can be changed with environmental changes or use of the electric power equipment, such as information of power consumption; fixed information is understood to be information in which voltage, power, etc. remain within a standard range for a long time.

S250, judging whether each piece of fixed information is in a standard range matched with each piece of fixed information loaded in advance or not; if yes, go to S260, otherwise go to S270.

In a specific example, for an electric device with a rated voltage of 220V, the standard range of the voltage may be between 219V and 221V in consideration of environmental changes, and if the voltage value in the key information of the electric device is 210V, it may be determined that the voltage value of the electric device is out of the standard range matching the voltage value.

And S260, generating a routing inspection result according to the variable information and the fixed information and displaying the routing inspection result on the interactive terminal.

If each piece of fixed information is within the pre-loaded standard range matched with each piece of fixed information, the target power equipment can be represented to be in a normal operation state, and at the moment, each key information numerical value of the power equipment image can be directly displayed on the interactive terminal as a polling result so as to be collected and analyzed by technicians.

And S270, generating a prompt label matched with the fixed information, generating a routing inspection result according to the variable information, the fixed information and the prompt label matched with the fixed information, and displaying the routing inspection result on the interactive terminal.

If the fixed information exceeds the pre-loaded standard range matched with the fixed information, the power equipment can be represented to be in an abnormal operation state, at the moment, a prompt label matched with the fixed information can be generated, all key information numerical values of the power equipment image and the prompt label are jointly used as a polling result, and the polling result is displayed on the interactive terminal, so that technicians can be reminded of that the power equipment is in the abnormal state in time.

According to the technical scheme of the embodiment of the invention, by judging whether each piece of fixed information is within the pre-loaded standard range matched with each piece of fixed information, and generating the substation inspection result according to the judgment result and displaying the substation inspection result on the interactive terminal, the reminding that the power equipment is in the abnormal operation state can be timely sent to the technical staff, so that the technical staff can timely check the possible faults in the power equipment.

Further, the automatic substation routing inspection method according to the embodiment of the present invention may further include:

sending a connection request to the inspection robot, and detecting whether the inspection robot sends connection feedback information;

and if the connection feedback information sent by the inspection robot is not received within the preset connection time, checking network connection, and generating a connection request again to send to the inspection robot until the connection feedback information sent by the inspection robot or a connection stopping instruction sent by a user is received within the preset time.

It can be understood that, in order to ensure that the inspection robot can move according to the first control instruction and prevent the inspection robot from being offline, a connection request may be sent to the inspection robot at a specified connection time, where the connection request may be a network connection request, and if connection feedback information sent by the inspection robot can be received within a preset connection time, it indicates that the inspection robot is in a normal connection state; if the connection feedback information sent by the inspection robot cannot be received within the preset connection time, the network connection is automatically checked, a connection request is generated again and sent to the inspection robot under the condition that the normal network connection is confirmed, meanwhile, the alarm information which cannot be connected can be generated and sent to a user until the connection feedback information sent by the inspection robot or a connection stopping instruction sent by the user is received within the preset time.

The advantages of such an arrangement are: the robot can be guaranteed to patrol and examine and move according to first control command all the time, thereby prevent to lead to patrolling and examining the problem of the route of marcing that the robot skew was preset because of patrolling and examining the robot off-line.

Further, will first control command sends to patrolling and examining the robot to control patrolling and examining the robot and remove to each target and patrol and examine the task point, will second control command sends to patrolling and examining the shooting cloud platform of carrying on the robot, in order to control after the shooting cloud platform removes to the shooting position that matches with each target patrolling and examining the task point, can also include at least one of the following:

receiving real-time position information uploaded by the inspection robot, updating an inspection map according to the real-time position information, and displaying the inspection map on an interactive terminal;

and when receiving collision early warning information sent by the inspection robot, generating an obstacle avoidance instruction according to the real-time position information and the collision early warning information uploaded by the inspection robot, and sending the obstacle avoidance instruction to the inspection robot.

Optionally, the inspection robot can acquire and upload real-time position information through various positioning modes such as radar positioning.

Optionally, the inspection robot can acquire surrounding environment information through vision or detect whether collision is about to occur through a radar detection mode, and if collision is about to occur, the current position, speed and position of an obstacle of the inspection robot can be acquired, and the information is used as collision early warning information.

Optionally, the obstacle avoidance instruction may include a motion trajectory of the inspection robot updated according to collision warning information.

Further, will first control command sends to patrolling and examining the robot to control patrolling and examining the robot and remove to each target and patrol and examine the task point, will second control command sends to the shooting cloud platform of carrying on patrolling and examining the robot, in order to control the shooting cloud platform remove to with each target patrol and examine after the shooting position that the task point matches, can also include:

when user operation information sent by the interactive terminal is detected, sending a control ending instruction for ending the first control instruction to the inspection robot;

and when the inspection robot responds to the control ending instruction, generating a remote control signal according to the user operation information and sending the remote control signal to the inspection robot in real time so as to control the inspection robot to move in real time according to the remote control signal.

Optionally, the inspection robot is controlled to move to the target inspection position by using a mode of generating the first control instruction, and the inspection robot can be controlled to move by sending a real-time remote control signal at the interactive terminal.

Furthermore, in the process of controlling the inspection robot to move through the remote control signal, in order to avoid offline operation of the inspection robot, it is still required to confirm that the inspection robot keeps an online operating state within a specified connection time, and because the inspection robot is not loaded with the first control instruction at this time, if the offline state is generated, the inspection robot may not continue to move according to a feasible track, so that if the inspection robot cannot send connection feedback information, the inspection robot immediately stops moving.

EXAMPLE III

Fig. 3 is a schematic structural diagram of an automatic substation inspection device according to a third embodiment of the present invention. As shown in fig. 3, the apparatus includes: the system comprises a starting time detection module 310, a target inspection task point information acquisition module 320, a control instruction sending module 330 and an inspection result generation module 340.

The start time detecting module 310 is configured to detect the start time of each inspection task according to a preset task detection frequency, and determine whether the start time of each inspection task is reached currently.

The target inspection task point information obtaining module 320 is configured to obtain target inspection task point information matched with the target inspection task from the database if the start time of the target inspection task is reached.

And the control instruction sending module 330 is used for generating a first control instruction and a second control instruction according to the target inspection task point information, sending the first control instruction to the inspection robot so as to control the inspection robot to move to each target inspection task point, and sending the second control instruction to a shooting holder carried on the inspection robot so as to control the shooting holder to move to a shooting position matched with each target inspection task point.

And the inspection result generating module 340 is used for receiving the power equipment image sent by the shooting holder, analyzing the power equipment image, acquiring key information in the power equipment image, and generating an inspection result according to the key information and displaying the inspection result on the interactive terminal.

On the basis of the foregoing embodiments, the inspection result generating module 340 may be specifically configured to:

receiving an electric power equipment image sent by a shooting holder, analyzing the electric power equipment image, and acquiring key information in the electric power equipment image;

the key information in the power equipment image comprises variable information and fixed information;

judging whether each piece of fixed information is within a pre-loaded standard range matched with each piece of fixed information, and if not, generating a prompt tag matched with the fixed information;

and generating a polling result and displaying the polling result on the interactive terminal according to the variable information, the fixed information and the prompt tag matched with the fixed information.

On the basis of the foregoing embodiments, the system may further include a connection detection module, which is specifically configured to:

On the basis of each embodiment, can also include and patrol and examine map update module for with first control command sends to patrolling and examining the robot to control patrolling and examining the robot and removing to each target and patrol and examine the task point, will second control command sends to the shooting cloud platform of patrolling and examining the robot and carrying on, in order to control after the shooting cloud platform removes to the shooting position that matches with each target patrolling and examining the task point, receive the real-time position information that patrols and examines the robot and upload, according to real-time position information update and patrol and examine the map, and will patrol and examine the map and demonstrate in interactive terminal.

On the basis of each embodiment, can also include keeping away barrier instruction generation module, be used for with first control command sends to patrolling and examining the robot to control patrolling and examining the robot and remove to each target and patrol and examine the task point, will second control command sends to the shooting cloud platform that carries on patrolling and examining the robot, in order control after the shooting cloud platform removes to the shooting position that matches with each target patrol and examine the task point, when receiving the collision early warning information that patrols and examines the robot and send, according to real-time position information and the collision early warning information that patrols and examines robot upload, generate and keep away the barrier instruction and send to patrolling and examining the robot.

On the basis of the above embodiments, the inspection robot may further include an inspection robot remote control module, specifically configured to:

The automatic substation inspection device provided by the embodiment of the invention can execute the automatic substation inspection method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

Example four

Fig. 4 is a schematic structural diagram of an automatic substation inspection system according to a fourth embodiment of the present invention, and as shown in fig. 4, the automatic substation inspection system includes: the system comprises a main control system 410, an interactive terminal 420, a database 430, an inspection robot 440 and a shooting cloud deck 450. Wherein:

the main control system 410 is configured to execute the substation automatic inspection method according to the first embodiment and the second embodiment of the present invention.

Optionally, the main control system 410 may send a control instruction to the inspection robot 440 and the shooting pan-tilt 450 in a network communication manner, the main control system 410 may obtain data information in the database 430 through the processor, and the main control system 410 may obtain user operation information in the interactive terminal 420 through the processor or the network communication.

The interactive terminal 420 is used for displaying the inspection result, the inspection map and the remote control options; and

user operation information of the user for operating the remote control option is obtained and sent to the main control system 410 in real time.

Optionally, the interactive terminal 420 may obtain the inspection result sent by the main control system 410 or the inspection map updated in real time through a processor or network communication.

Preferably, the interactive terminal 420 may be a display screen or a touch display screen, so that a technician can directly operate a remote control option in the interactive terminal to generate user operation information and send the user operation information to the main control system 410.

And the database 430 is used for storing at least one target inspection task established in advance and at least one piece of target inspection task point information matched with each target inspection task.

Optionally, the database 430 may respond to the data call request sent by the main control system 410, call the target data according to the data call request, and send the target data to the main control system 410.

Optionally, the data stored in the database 430 may include: the method comprises the steps of at least one preset inspection task, timing information (such as marking the timing inspection task with a marker bit 1 and marking the non-timing inspection task with a marker bit 0) of each inspection task, timing types of the timing inspection tasks, task point information matched with each inspection task and deletion information of each inspection task.

It can be understood that the reason why the patrol tasks are not directly deleted from the database 430 can be that, in order to facilitate the reuse of the patrol tasks, if the deleted patrol tasks need to be reused, only the deletion flag bits need to be changed, and a new patrol task does not need to be created again.

Optionally, the main control system 410, the interactive terminal 420 and the database 430 may be disposed on the user side for cooperative use, and the main control system 410 and the database 430 may be disposed in a processor of the interactive terminal 420.

And the inspection robot 440 is configured to move to each target inspection task point matched with the target inspection task according to the first control instruction sent by the main control system 410.

And the shooting cloud deck 450 is configured to move to a shooting position matched with each target inspection task point according to the second control instruction sent by the main control system 410, shoot the power equipment image of each target inspection task point, and send the power equipment image to the main control system 410.

Optionally, after receiving the second control instruction sent by the main control system 410, the shooting pan-tilt 450 may move to the shooting position matched with the current inspection task point according to the information of the current inspection task point, and adjust the focal length matched with the current inspection task point, so as to shoot the power device image of the current inspection task point and send the image to the main control system 410.

Further, the inspection robot 440 may be further configured to perform at least one of:

after receiving a connection request sent by the master control system 410, generating connection feedback information and sending the connection feedback information to the master control system 410;

sending real-time position information to the master control system 410, and generating collision early warning information and sending the collision early warning information to the master control system 410 when detecting that a collision condition is met;

receiving a control ending instruction sent by the master control system 410, and ending a currently executed first control instruction according to the control ending instruction; and

receiving a remote control signal sent by the master control system 410 in real time, and moving in real time according to the remote control signal;

after the inspection robot 440 moves in real time according to the remote control signal, if the inspection robot 440 does not receive the remote control signal sent by the main control system 410 again within the preset signal receiving time, the inspection robot 440 stops moving.

Optionally, the inspection robot 440 can carry devices used for positioning and collecting surrounding environment information, such as radars and cameras, and through such devices, can judge whether the inspection robot is about to collide, and acquire the environment information and send the environment information to the master control system 410.

According to the technical scheme of the embodiment of the invention, the automatic inspection system of the transformer substation is provided with the main control system, the interactive terminal, the database, the inspection robot and the shooting pan-tilt, so that the transformer substation can be automatically inspected at regular time, the display data information of each electric power device in the transformer substation can be extracted, the inspection result is generated by analyzing the display data information and is sent to the interactive terminal, the inspection efficiency can be effectively improved, and technicians can conveniently and timely obtain the operating state of each electric power device.

EXAMPLE five

FIG. 5 illustrates a schematic diagram of an electronic device 50 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 5, the electronic device 50 includes at least one processor 51, and a memory communicatively connected to the at least one processor 51, such as a Read Only Memory (ROM) 52, a Random Access Memory (RAM) 53, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 51 may perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM) 52 or the computer program loaded from a storage unit 58 into the Random Access Memory (RAM) 53. In the RAM53, various programs and data necessary for the operation of the electronic apparatus 50 can also be stored. The processor 51, the ROM52, and the RAM53 are connected to each other via a bus 54. An input/output (I/O) interface 55 is also connected to bus 54.

A plurality of components in the electronic apparatus 50 are connected to the I/O interface 55, including: an input unit 56 such as a keyboard, a mouse, or the like; an output unit 57 such as various types of displays, speakers, and the like; a storage unit 58 such as a magnetic disk, an optical disk, or the like; and a communication unit 59 such as a network card, modem, wireless communication transceiver, etc. The communication unit 59 allows the electronic device 50 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.

The processor 51 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of the processor 51 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, or the like. The processor 51 performs the various methods and processes described above, such as the substation automated inspection method described in embodiments of the present invention. Namely:

generating a first control instruction and a second control instruction according to the target patrol task point information, sending the first control instruction to the patrol robot to control the patrol robot to move to each target patrol task point, and sending the second control instruction to a shooting cloud platform carried on the patrol robot to control the shooting cloud platform to move to a shooting position matched with each target patrol task point;

In some embodiments, the substation automated inspection method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 58. In some embodiments, part or all of the computer program may be loaded and/or installed onto electronic device 50 via ROM52 and/or communications unit 59. When the computer program is loaded into the RAM53 and executed by the processor 51, one or more steps of the substation automated inspection method described above may be performed. Alternatively, in other embodiments, the processor 51 may be configured to perform the substation automated inspection method by any other suitable means (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on a machine, as a stand-alone software package partly on a machine and partly on a remote machine or entirely on a remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the Internet.

The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solution of the present invention can be achieved.

The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic inspection method for a transformer substation is characterized by comprising the following steps:

2. The method according to claim 1, wherein the steps of receiving an electric power equipment image sent by a shooting holder, analyzing the electric power equipment image, acquiring key information in the electric power equipment image, generating a routing inspection result according to the key information and displaying the routing inspection result on an interactive terminal comprise:

judging whether each piece of fixed information is in a pre-loaded standard range matched with each piece of fixed information, and if not, generating a prompt tag matched with the fixed information;

3. The method of claim 2, further comprising:

4. The method according to claim 2, wherein after the first control instruction is sent to the inspection robot to control the inspection robot to move to each target inspection task point, and the second control instruction is sent to a shooting cloud platform mounted on the inspection robot to control the shooting cloud platform to move to a shooting position matched with each target inspection task point, at least one of the following is further included:

5. The method according to claim 2, after sending the first control instruction to the inspection robot to control the inspection robot to move to each target inspection task point and sending the second control instruction to a shooting pan head mounted on the inspection robot to control the shooting pan head to move to a shooting position matched with each target inspection task point, the method further comprises:

and when the inspection robot responds to the control ending instruction, generating a remote control signal according to the user operation information and transmitting the remote control signal to the inspection robot in real time so as to control the inspection robot to move in real time according to the remote control signal.

6. The utility model provides an automatic inspection device of transformer substation which characterized in that includes:

7. An electronic device, characterized in that the electronic device comprises:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the substation automated inspection method of any one of claims 1-5.

8. The utility model provides an automatic system of patrolling and examining of transformer substation which characterized in that includes: major control system, interactive terminal, database, patrol and examine the robot and shoot the cloud platform, wherein:

the master control system for performing the method of any one of claims 1-5;

and the shooting cloud deck is used for moving to a shooting position matched with each target inspection task point according to a second control instruction sent by the master control system, shooting the power equipment image of each target inspection task point, and sending the power equipment image to the master control system.

9. The system of claim 8, wherein the inspection robot is further configured to perform at least one of:

after receiving a connection request sent by a master control system, generating connection feedback information and sending the connection feedback information to the master control system;

sending real-time position information to a master control system, and generating collision early warning information and sending the collision early warning information to the master control system when detecting that a collision condition is met;

receiving a control ending instruction sent by a master control system, and ending a currently executed first control instruction according to the control ending instruction; and

receiving a remote control signal sent by a master control system in real time, and moving in real time according to the remote control signal;

and after the inspection robot moves in real time according to the remote control signal, if the inspection robot does not receive the remote control signal sent by the master control system again within the preset signal receiving time, the inspection robot stops moving.

10. A computer readable storage medium storing computer instructions for causing a processor to implement the substation automated inspection method of any one of claims 1 to 5 when executed.